WO2020051977A1 - Motion control system - Google Patents

Motion control system Download PDF

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Publication number
WO2020051977A1
WO2020051977A1 PCT/CN2018/111108 CN2018111108W WO2020051977A1 WO 2020051977 A1 WO2020051977 A1 WO 2020051977A1 CN 2018111108 W CN2018111108 W CN 2018111108W WO 2020051977 A1 WO2020051977 A1 WO 2020051977A1
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WO
WIPO (PCT)
Prior art keywords
unit
control
servo
power
module
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PCT/CN2018/111108
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French (fr)
Chinese (zh)
Inventor
王庆华
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广东工贸职业技术学院
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Application filed by 广东工贸职业技术学院 filed Critical 广东工贸职业技术学院
Priority to US16/699,707 priority Critical patent/US10976723B2/en
Publication of WO2020051977A1 publication Critical patent/WO2020051977A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24215—Scada supervisory control and data acquisition
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33154—Data exchange between processors of different axis of same or different cnc
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34013—Servocontroller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34208—Motion controller

Definitions

  • the invention relates to the technical field of automation control, in particular to a motion control system.
  • the motion control of numerical control equipment and industrial robots on the market generally realizes multi-axis linear or joint motion through multiple AC servo drives and the same number of servo motors, and multi-axis motion controllers are also required to realize automatic control.
  • this control method usually results in inconsistent parameter setting performance of the motion controller located on the upper computer and the AC servo driver located on the lower computer due to the different brands of the motion controller and the AC server, which makes the motion accuracy of the equipment greatly different. Bring inexplicable trouble to users.
  • the technical problem to be solved by the embodiments of the present invention is to provide an integrated motion controller and a motion control system supporting a multi-axis AC servo driver, to realize automatic control of the servo driver, and to improve control accuracy of the servo driver.
  • an embodiment of the present invention provides a motion control system including: a power module, a plurality of servo motors, a servo control module, a motion control module, and a microprocessor;
  • the power module is connected to the plurality of servo motors and is used to control the working power output by the AC power supply;
  • the plurality of servo motors are connected to the servo control module, and are used for receiving the output current flowing through the power module, and conditioning and shaping the current signal of the output current, converting it into an encoder output signal and sending it to all Said servo control module;
  • the servo control module is connected to the power control module, and is configured to receive encoder output signals respectively sent by the plurality of servo motors, perform counting and discrimination processing, and convert them into a first logic control signal;
  • the motion control module is connected to the servo control module and the microprocessor, and is configured to send the first logic control signal to the microprocessor;
  • the microprocessor is configured to receive the first logic control signal, interpolate the logic control signal, convert it into a control signal, and feed back the control signal to the motion control module for the motion control module.
  • the motion control module controls the servo control module to adjust the power module, so that the power module changes the working power output by the AC power supply, thereby driving the plurality of servo motors.
  • the power module includes: a power control unit, multiple AC-DC-AC power units, multiple space vector pulse width modulation integrated units, and a current detection unit;
  • the power supply control unit is configured to control an output of the AC power supply
  • the input terminals of the plurality of AC-DC-AC power units are connected to the output terminals of the power control unit, and the output terminals of the plurality of AC-DC-AC power units are connected to the plurality of servo motors;
  • the multiple AC-DC-AC power units are used for frequency conversion and voltage conversion of the working power output by the AC power supply;
  • the multiple space vector pulse width modulation integrated units are connected to the output terminals of the multiple AC-DC-AC power units one-to-one correspondingly, and are used to work in the multiple AC-DC-AC power units. Voltage modulation
  • the current detection unit is connected to an output end of each of the AC-DC-AC power units and is configured to detect a working current of each of the AC-DC-AC power units.
  • the servo control module includes: a logic control unit, a control processing unit, and a position feedback unit;
  • the logic control unit is connected to the motion control module, and is configured to convert an encoder output signal of each servo motor into the first logic control signal and send the signal to the microcomputer through the motion control module.
  • a processor and outputting a corresponding second logic control signal to the control processing unit according to the control signal fed back by the microprocessor;
  • the control processing unit is connected to the logic control unit, the power supply control unit, and the multiple space vector pulse width modulation integrated units, and is configured to receive the second logic control signal and output multiple sets of modulation signals to corresponding ones.
  • Space vector pulse width modulation integrated unit to control the plurality of AC-DC-AC power units;
  • a position feedback unit connected to the logic control unit; the position feedback unit includes a plurality of position feedback interfaces;
  • the multiple position feedback interfaces are respectively connected one-to-one with the multiple servo motors, and are used to send the encoder output signal to the logic control unit.
  • a servo display module connected to the control processing unit.
  • the motion control module includes: an instruction and feedback unit and an FPGA unit;
  • the instruction and feedback unit is connected to the FPGA unit and the servo control module, and is configured to send the first logic signal to the FPGA unit;
  • the FPGA unit is connected to the microprocessor, and is configured to send the first logic signal to the microprocessor, so that the microprocessor generates the control signal, and sends the control signal to the processor through the FPGA. After the control signal is finely interpolated, the control signal is fed back to the servo drive module through the instruction and feedback unit.
  • the power module further includes: a fault detection unit;
  • the fault detection unit is connected to the logic control unit.
  • the servo motor includes an encoder for outputting an output signal of the encoder
  • the encoder includes an incremental encoder and / or an absolute encoder.
  • controller display module connected to the microprocessor
  • the controller display module includes a display unit and a data storage FLASH unit.
  • microprocessor is an ARM processor.
  • a motion control system of a motion control system includes a power module, a plurality of servo motors, a servo control module, a motion control module, and a microprocessor.
  • the power module is connected to the servo motor;
  • the servo control module is connected to the servo control module to receive the encoder output signal of the servo motor;
  • the motion control module is connected to the servo control module to send the encoder output signal to the microprocessor;
  • micro The processor receives the encoder output signal, feeds back the corresponding control signal, and controls the servo control module to drive multiple servo motors through the motion control module.
  • the present invention combines a controller and a servo driver to make data transmission and feedback faster and has higher practicability.
  • FIG. 1 is a schematic structural diagram of a motion control system according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a motion control system according to another embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a motion control system according to another embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a power module according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a servo control module according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a motion control module according to an embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of a motion control system according to an embodiment of the present invention. As shown in FIG. 1, the system is externally connected to an AC power source and includes: a power module 101, a plurality of servo motors 102, a servo control module 103, and motion. Control module 104 and microprocessor 105.
  • the power module 101 is connected to a plurality of servo motors 102, the plurality of servo motors 102 are connected to a servo control module 103, the servo control module 103 is connected to a power module 101, and the motion control module 104 is connected to the servo control module 103 and the microprocessor 105.
  • the power module 101 is used to control a working power source outputted by an AC power source.
  • the plurality of servo motors 102 are used to receive the output current flowing through the power module 101, and the current signal of the output current is adjusted and shaped, converted into an encoder output signal, and sent to the servo control module 103.
  • the servo control module 103 is configured to receive encoder output signals respectively sent from a plurality of servo motors 102, perform counting and discrimination processing, and convert them into a first logic control signal.
  • the motion control module 104 is configured to send a first logic control signal to the microprocessor 105.
  • the microprocessor 105 is configured to receive the first logic control signal, interpolate the logic control signal, convert it into a control signal, and feed back the control signal to the motion control module 104 for the motion control module 104 to control the servo control module 103 to
  • the power module 101 is adjusted so that the power module 101 changes the working power output by the AC power supply to drive a plurality of servo motors 102.
  • the encoder output signal includes a position signal indicating the servo motor 102. Among them, counting and direction processing are realized by Verilog HDL language.
  • an AC motion control system that simultaneously drives two servo motors and supports two position feedbacks is adopted, where two servo motors 102 are used, and the microprocessor 105 uses an ARM processor.
  • the ARM processor completes display, parameter management, PLC management, code management, simulation management, tool management, communication management, and completes decoding, tool compensation, speed control, and interpolation.
  • FIG. 2 is a schematic structural diagram of a motion control system according to another embodiment of the present invention. In addition to the structure shown in FIG. 1, it also includes a controller display module 106 and a servo display module 107.
  • the controller display module 106 is connected to the microprocessor 105 and is used to display related control parameters of the microprocessor 105.
  • the controller display module 106 further includes a display unit 601 and a data storage FLASH unit 602.
  • the servo display module 107 is connected to the servo control module 103.
  • the display unit 601 uses an LED display screen to display related control parameters of the microprocessor 105.
  • the servo display module 107 uses servo erasable programmable read-only memory connected to a light-emitting diode display screen to display servo control parameters.
  • FIG. 4 is a schematic structural diagram of a power module according to an embodiment of the present invention.
  • the power module includes a power supply control unit 201, a plurality of AC-DC-AC power units 202, a plurality of space vector pulse width modulation integration units 203, and a current detection unit 204.
  • the output end of the power control unit 201 is connected to the input ends of multiple AC-DC-AC power units 202, and the output ends of the multiple AC-DC-AC power units 202 are connected to two servo motors 102, and multiple space vector pulse widths
  • the modulation integration unit 203 is connected to the output ends of the multiple AC-DC-AC power units 202 respectively, and the current detection unit 204 is connected to the output ends of the AC-DC-AC power units 202.
  • the power control unit 201 is connected to a power source by a DC / DC conversion subunit to control the output of an AC power source.
  • the space vector pulse width modulation integration unit 203 includes a PWM pulse modulation sub-unit and an interface circuit sub-unit.
  • the PWM pulse modulation sub-unit is used to receive the second logic control signal generated by the servo control module 103, perform modulation and wait until two sets of PWM voltage signals, and send the two sets of PWM voltage signals to the two AC-DC-
  • the AC power unit 202 adjusts the output currents of the two AC-DC-AC power units 202 and controls the two servo motors to work.
  • the two current detection units 204 connected to the output ends of the two AC-DC-AC power units 202 ensure the normal operation of each of the two servo motors by detecting the output currents of the two AC-DC-AC power units 202 in real time.
  • FIG. 5 is a schematic structural diagram of a servo control module according to an embodiment of the present invention. It includes a logic control unit 301, a control processing unit 302, and a position feedback unit 303.
  • the logic control unit 301 is connected to the motion control module 104, and the control processing unit 302 is connected to the logic control unit 301, the power control unit 201, and a plurality of space vector pulse width modulation integration units 203.
  • the position feedback unit 303 is connected to the logic control unit 301.
  • the hardware interface of the position feedback unit 303 is provided with a first position feedback interface and a second position feedback interface.
  • the two position feedback interfaces are respectively used for position feedback elements such as encoders or encoders of two servo motors. connection.
  • the interface forms of the two position feedback interfaces are the same and both are suitable for encoders or encoders.
  • the logic control unit 301 uses a CPLD.
  • the encoders of the two servo motors include incremental or absolute encoders.
  • CPLD is configured by setting parameters so that the two position feedback interfaces choose to use incremental encoders or absolute encoders.
  • the incremental encoder filters out the high-frequency interference signals in the differential signal, and then adjusts and shapes the current signal, converts it into an encoder output signal, and inputs it into the CPLD.
  • Technology and direction processing When an absolute encoder is connected to the position feedback interface, the current signal is input to the CPLD for counting and discrimination processing through the absolute encoder, and a first logic signal is generated and sent to the motion control module 104.
  • the CPLD is further configured to receive a control signal after fine interpolation by the motion control module 104, generate a second logic signal, and send it to the control processing unit 302.
  • control processing unit 302 uses a DSP.
  • the DSP completes keyboard scanning, display, parameter management, control of the current loop / speed loop / position loop, and outputs two sets of PWM signals to the corresponding space vector pulse width modulation integration unit 203 according to the received second logic signal. .
  • FIG. 6 is a schematic structural diagram of a motion control module according to an embodiment of the present invention. Including instruction and feedback unit 401 and FPGA unit 402.
  • the instruction and feedback unit 401 is connected to the FPGA unit 402.
  • the FPGA unit 402 and the microprocessor 105 are connected.
  • the instruction and feedback unit 401 is configured to receive a first logic signal generated by the CPLD, send it to the FPGA unit 402, and send a control signal after the FPGA performs fine interpolation to the CPLD.
  • the FPGA unit 402 is configured to send the first logic signal received by the instruction and feedback unit 401 to the microprocessor 105.
  • the FPGA unit 402 is also used to complete keyboard scanning and IO control.
  • an embodiment of the present invention provides a motion control system including: a power module, a plurality of servo motors, a servo control module, a motion control module, and a microprocessor.
  • the power module is used to control the working power output of the AC power supply; multiple private server motors are used to receive the output current of the power module and convert the current signal of the output circuit into an encoder output signal and send it to the servo control module; the servo control module sends the encoder
  • the output signal is converted into a first logic control signal and transmitted to the microprocessor through the motion control module; the microprocessor generates a control signal according to the first logic signal, and after the control signal is readjusted by the motion control module, it is sent to the servo control module , Control the servo control module to adjust the power module, so that the power module changes the working power output by the AC power supply, thereby driving multiple servo motors to work.
  • the present invention provides an integrated motion controller

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

Provided is a motion control system, comprising: a power module (101), a plurality of servo motors (102), a servo control module (103), a motion control module (104), and a microprocessor (105). The power module (101) is used for controlling the operating power output of an AC power supply; the plurality of servo motors (102) is used for converting a current signal of an output current of the power module (101) into an encoder output signal and sending same to the servo control module (103); the servo control module (103) converts the encoder output signal into a first logic control signal, and transmits same to the microprocessor (105) by way of the motion control module (104); the microprocessor (105) generates a control signal according to the first logic signal, controlling the servo control module (103) to adjust the power module (101) and thereby changing the operating power outputted by the AC power supply, driving the plurality of servo motors (102) to operate. In comparison with conventional techniques, the invention provides an motion control system integrates a motion controller and supports a multi-axis AC servo driver, thus achieving automatic control of a servo driver and improving servo drive control accuracy.

Description

运动控制系统Motion Control System 技术领域Technical field
本发明涉及自动化控制技术领域，尤其涉及一种运动控制系统。The invention relates to the technical field of automation control, in particular to a motion control system.
背景技术Background technique
目前，市场上的数控设备、工业机器人的运动控制一般通过多台交流伺服驱动器和相同数量的伺服电机来实现多轴直线或关节运动，并且还需配备多轴的运动控制器，实现自动控制。而这种控制方法，通常会由于运动控制器与交流伺服器的品牌不同，导致位于上位机的运动控制器和位于下位机的交流伺服驱动器的参数设置性能不一致，使得设备运动精度相差较大，给用户带来莫名的困扰。At present, the motion control of numerical control equipment and industrial robots on the market generally realizes multi-axis linear or joint motion through multiple AC servo drives and the same number of servo motors, and multi-axis motion controllers are also required to realize automatic control. However, this control method usually results in inconsistent parameter setting performance of the motion controller located on the upper computer and the AC servo driver located on the lower computer due to the different brands of the motion controller and the AC server, which makes the motion accuracy of the equipment greatly different. Bring inexplicable trouble to users.
发明内容Summary of the Invention
本发明实施例所要解决的技术问题在于，提供一种集成运动控制器和支持多轴交流伺服驱动器的运动控制系统，实现伺服驱动器的自动控制，提高伺服驱动器控制精度。The technical problem to be solved by the embodiments of the present invention is to provide an integrated motion controller and a motion control system supporting a multi-axis AC servo driver, to realize automatic control of the servo driver, and to improve control accuracy of the servo driver.
为解决上述问题，本发明实施例提供一种运动控制系统，包括：功率模块、多个伺服电机、伺服控制模块、运动控制模块和微处理器；In order to solve the above problems, an embodiment of the present invention provides a motion control system including: a power module, a plurality of servo motors, a servo control module, a motion control module, and a microprocessor;
所述功率模块与所述多个伺服电机连接，用于控制所述交流电源输出的工作电源；The power module is connected to the plurality of servo motors and is used to control the working power output by the AC power supply;
所述多个伺服电机与所述伺服控制模块连接，用于接收流经所述功率模块的输出电流，并对所述输出电流的电流信号进行调理整形，转换为编码器输出信号，发送到所述伺服控制模块；The plurality of servo motors are connected to the servo control module, and are used for receiving the output current flowing through the power module, and conditioning and shaping the current signal of the output current, converting it into an encoder output signal and sending it to all Said servo control module;
所述伺服控制模块与所述功率控制模块连接，用于接收所述多个伺服电机分别发送的编码器输出信号，进行计数和辨向处理后，转换成第一逻辑控制信号；The servo control module is connected to the power control module, and is configured to receive encoder output signals respectively sent by the plurality of servo motors, perform counting and discrimination processing, and convert them into a first logic control signal;
所述运动控制模块，与所述伺服控制模块和所述微处理器连接，用于将所述第一逻辑控制信号，发送到所述微处理器；The motion control module is connected to the servo control module and the microprocessor, and is configured to send the first logic control signal to the microprocessor;
所述微处理器，用于接收所述第一逻辑控制信号，对所述逻辑控制信号进行插补后，转换成控制信号，并反馈所述控制信号给所述运动控制模块，以供所述运动控制模块，控制所述伺服控制模块对所述功率模块进行调整，以使所述功率模块改变所述交流电源输出的工作电源，从而驱动所述多个伺服电机。The microprocessor is configured to receive the first logic control signal, interpolate the logic control signal, convert it into a control signal, and feed back the control signal to the motion control module for the motion control module. The motion control module controls the servo control module to adjust the power module, so that the power module changes the working power output by the AC power supply, thereby driving the plurality of servo motors.
进一步的，所述功率模块包括：电源控制单元、多个交-直-交功率单元、多个空间矢量脉宽调制集成单元和电流检测单元；Further, the power module includes: a power control unit, multiple AC-DC-AC power units, multiple space vector pulse width modulation integrated units, and a current detection unit;
所述电源控制单元，用于控制所述交流电源的输出；The power supply control unit is configured to control an output of the AC power supply;
所述多个交-直-交功率单元的输入端与所述电源控制单元的输出端连接，所述多个交-直-交功率单元的输出端与所述多个伺服电机连接；The input terminals of the plurality of AC-DC-AC power units are connected to the output terminals of the power control unit, and the output terminals of the plurality of AC-DC-AC power units are connected to the plurality of servo motors;
所述多个交-直-交功率单元用于对所述交流电源输出的工作电源进行变频变压转换；The multiple AC-DC-AC power units are used for frequency conversion and voltage conversion of the working power output by the AC power supply;
所述多个空间矢量脉宽调制集成单元，分别与所述多个交-直-交功率单元的输出端一一对应连接，用于对所述多个交-直-交功率单元中的工作电压进行调制；The multiple space vector pulse width modulation integrated units are connected to the output terminals of the multiple AC-DC-AC power units one-to-one correspondingly, and are used to work in the multiple AC-DC-AC power units. Voltage modulation
所述电流检测单元，与各个所述交-直-交功率单元的输出端连接，用于检测各所述交-直-交功率单元的工作电流。The current detection unit is connected to an output end of each of the AC-DC-AC power units and is configured to detect a working current of each of the AC-DC-AC power units.
进一步的，所述伺服控制模块包括：逻辑控制单元、控制处理单元和位置反馈单元；Further, the servo control module includes: a logic control unit, a control processing unit, and a position feedback unit;
所述逻辑控制单元，与所述运动控制模块连接，用于将各所述伺服电机的编码器输出信号，转换成所述第一逻辑控制信号，并通过所述运动控制模块发送至所述微处理器，并根据所述微处理器反馈的所述控制信号，向所述控制处理单元输出相应的第二逻辑控制信号；The logic control unit is connected to the motion control module, and is configured to convert an encoder output signal of each servo motor into the first logic control signal and send the signal to the microcomputer through the motion control module. A processor, and outputting a corresponding second logic control signal to the control processing unit according to the control signal fed back by the microprocessor;
所述控制处理单元，与所述逻辑控制单元、所述电源控制单元、所述多个空间矢量脉宽调制集成单元连接，用于接收所述第二逻辑控制信号，输出多组调制信号给相应的空间矢量脉宽调制集成单元，以控制所述多个交-直-交功率单 元；The control processing unit is connected to the logic control unit, the power supply control unit, and the multiple space vector pulse width modulation integrated units, and is configured to receive the second logic control signal and output multiple sets of modulation signals to corresponding ones. Space vector pulse width modulation integrated unit to control the plurality of AC-DC-AC power units;
位置反馈单元，与所述逻辑控制单元连接；所述位置反馈单元包括多个位置反馈接口；A position feedback unit connected to the logic control unit; the position feedback unit includes a plurality of position feedback interfaces;
所述多个位置反馈接口，分别与所述多个伺服电机一一对应连接，用于将所述编码器输出信号发送到所述逻辑控制单元。The multiple position feedback interfaces are respectively connected one-to-one with the multiple servo motors, and are used to send the encoder output signal to the logic control unit.
进一步的，还包括：Further, it also includes:
与所述控制处理单元连接的伺服显示模块。A servo display module connected to the control processing unit.
进一步的，所述运动控制模块包括：指令及反馈单元和FPGA单元；Further, the motion control module includes: an instruction and feedback unit and an FPGA unit;
所述指令及反馈单元，与所述FPGA单元和所述伺服控制模块连接，用于将所述第一逻辑信号发送至所述FPGA单元；The instruction and feedback unit is connected to the FPGA unit and the servo control module, and is configured to send the first logic signal to the FPGA unit;
所述FPGA单元，与所述微处理器连接，用于将所述第一逻辑信号发送到所述微处理器，以供所述微处理器生成所述控制信号，并通过所述FPGA对所述控制信号进行精插补后，通过所述指令及反馈单元，将所述控制信号反馈给所述伺服驱动模块。The FPGA unit is connected to the microprocessor, and is configured to send the first logic signal to the microprocessor, so that the microprocessor generates the control signal, and sends the control signal to the processor through the FPGA. After the control signal is finely interpolated, the control signal is fed back to the servo drive module through the instruction and feedback unit.
进一步的，所述功率模块还包括：故障检测单元；Further, the power module further includes: a fault detection unit;
所述故障检测单元与所述逻辑控制单元连接。The fault detection unit is connected to the logic control unit.
进一步的，所述伺服电机包括编码器，用于输出所述编码器输出信号；Further, the servo motor includes an encoder for outputting an output signal of the encoder;
所述编码器包括增量式编码器和/或绝对式编码器。The encoder includes an incremental encoder and / or an absolute encoder.
进一步的，还包括：与所述微处理器连接的控制器显示模块；Further, it further comprises: a controller display module connected to the microprocessor;
所述控制器显示模块包括显示单元和数据存储FLASH单元。The controller display module includes a display unit and a data storage FLASH unit.
进一步的，所述微处理器为ARM处理器。Further, the microprocessor is an ARM processor.
实施本发明实施例，具有如下有益效果：Implementing the embodiments of the present invention has the following beneficial effects:
本发明实施例提供的一种运动控制系统运动控制系统，包括：功率模块、多个伺服电机、伺服控制模块、运动控制模块和微处理器。功率模块与伺服电机连接；伺服控制模块与伺服控制模块连接，用于接收伺服电机的编码器输出信号；运动控制模块与伺服控制模块连接，用于将编码器输出信号发送到微处理器；微处理器接收编码器输出信号，反馈相应的控制信号，通过运动控制模 块，控制伺服控制模块驱动多个伺服电机。相比于现有技术，本发明将控制器与伺服驱动器结合，使数据的传输和反馈速度更快，具备了更高的实用性。A motion control system of a motion control system provided by an embodiment of the present invention includes a power module, a plurality of servo motors, a servo control module, a motion control module, and a microprocessor. The power module is connected to the servo motor; the servo control module is connected to the servo control module to receive the encoder output signal of the servo motor; the motion control module is connected to the servo control module to send the encoder output signal to the microprocessor; micro The processor receives the encoder output signal, feeds back the corresponding control signal, and controls the servo control module to drive multiple servo motors through the motion control module. Compared with the prior art, the present invention combines a controller and a servo driver to make data transmission and feedback faster and has higher practicability.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明的一个实施例提供的运动控制系统的结构示意图；FIG. 1 is a schematic structural diagram of a motion control system according to an embodiment of the present invention; FIG.
图2是本发明的另一个实施例提供的运动控制系统的结构示意图；2 is a schematic structural diagram of a motion control system according to another embodiment of the present invention;
图3是本发明的又一个实施例提供的运动控制系统的结构示意图；3 is a schematic structural diagram of a motion control system according to another embodiment of the present invention;
图4是本发明的一个实施例提供的功率模块的结构示意图；4 is a schematic structural diagram of a power module according to an embodiment of the present invention;
图5是本发明的一个实施例提供的伺服控制模块的结构示意图；5 is a schematic structural diagram of a servo control module according to an embodiment of the present invention;
图6是本发明的一个实施例提供的运动控制模块的结构示意图。FIG. 6 is a schematic structural diagram of a motion control module according to an embodiment of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
请参见图1到3。See Figures 1 to 3.
参见图1，是本发明的一个实施例提供的运动控制系统的结构示意图，如图1所示，该系统外接交流电源，包括：功率模块101、多个伺服电机102、伺服控制模块103、运动控制模块104和微处理器105。1 is a schematic structural diagram of a motion control system according to an embodiment of the present invention. As shown in FIG. 1, the system is externally connected to an AC power source and includes: a power module 101, a plurality of servo motors 102, a servo control module 103, and motion. Control module 104 and microprocessor 105.
功率模块101与多个伺服电机102连接，多个伺服电机102与伺服控制模块103连接，伺服控制模块103与功率模块101连接，运动控制模块104与伺服控制模块103和微处理器105连接。The power module 101 is connected to a plurality of servo motors 102, the plurality of servo motors 102 are connected to a servo control module 103, the servo control module 103 is connected to a power module 101, and the motion control module 104 is connected to the servo control module 103 and the microprocessor 105.
功率模块101用于控制交流电交流电源输出的工作电源。多个伺服电机102用于接收流经功率模块101的输出电流，并输出电流的电流信号进行调理整形，转换为编码器输出信号，发送到伺服控制模块103。伺服控制模块103用于接收多个伺服电机102分别发送的编码器输出信号，进行计数和辨向处理后，转换 成第一逻辑控制信号。运动控制模块104用于将第一逻辑控制信号发送到微处理器105。微处理器105用于接收第一逻辑控制信号，对逻辑控制信号进行插补后，转换成控制信号，并反馈控制信号给运动控制模块104，以供运动控制模块104，控制伺服控制模块103对功率模块101进行调整，以使功率模块101改变交流电源输出的工作电源，从而驱动多个伺服电机102。其中，编码器输出信号包括表示伺服电机102的位置信号。其中，计数和辨向处理通过Verilog HDL语言实现。The power module 101 is used to control a working power source outputted by an AC power source. The plurality of servo motors 102 are used to receive the output current flowing through the power module 101, and the current signal of the output current is adjusted and shaped, converted into an encoder output signal, and sent to the servo control module 103. The servo control module 103 is configured to receive encoder output signals respectively sent from a plurality of servo motors 102, perform counting and discrimination processing, and convert them into a first logic control signal. The motion control module 104 is configured to send a first logic control signal to the microprocessor 105. The microprocessor 105 is configured to receive the first logic control signal, interpolate the logic control signal, convert it into a control signal, and feed back the control signal to the motion control module 104 for the motion control module 104 to control the servo control module 103 to The power module 101 is adjusted so that the power module 101 changes the working power output by the AC power supply to drive a plurality of servo motors 102. The encoder output signal includes a position signal indicating the servo motor 102. Among them, counting and direction processing are realized by Verilog HDL language.
在本实施例中，采用一种同时驱动两台伺服电机并支持两种位置反馈的交流运动控制系统，其中伺服电机102为两个，微处理器105采用ARM处理器。ARM处理器完成显示、参数管理、PLC管理、代码管理、仿真管理、刀具管理、通讯管理，完成译码、刀补、速度控制和插补。In this embodiment, an AC motion control system that simultaneously drives two servo motors and supports two position feedbacks is adopted, where two servo motors 102 are used, and the microprocessor 105 uses an ARM processor. The ARM processor completes display, parameter management, PLC management, code management, simulation management, tool management, communication management, and completes decoding, tool compensation, speed control, and interpolation.
参见图2，是本发明的另一个实施例提供的运动控制系统的结构示意图。除图1所示结构外，还包括：控制器显示模块106和伺服显示模块107。2 is a schematic structural diagram of a motion control system according to another embodiment of the present invention. In addition to the structure shown in FIG. 1, it also includes a controller display module 106 and a servo display module 107.
控制器显示模块106与微处理器105连接，用于对微处理器105的相关控制参数进行显示。其中，控制器显示模块106还包括显示单元601和数据存储FLASH单元602。The controller display module 106 is connected to the microprocessor 105 and is used to display related control parameters of the microprocessor 105. The controller display module 106 further includes a display unit 601 and a data storage FLASH unit 602.
伺服显示模块107与伺服控制模块103连接。The servo display module 107 is connected to the servo control module 103.
在本实施例中，显示单元601采用LED显示屏幕进行微处理器105的相关控制参数显示。伺服显示模块107采用带电可擦可编程只读存储器连接发光二极管显示屏幕的方式，进行伺服控制参数显示。In this embodiment, the display unit 601 uses an LED display screen to display related control parameters of the microprocessor 105. The servo display module 107 uses servo erasable programmable read-only memory connected to a light-emitting diode display screen to display servo control parameters.
请参阅图4。See Figure 4.
参见图4，是本发明的一个实施例提供的功率模块的结构示意图。功率模块包括电源控制单元201、多个交-直-交功率单元202、多个空间矢量脉宽调制集成单元203和电流检测单元204。FIG. 4 is a schematic structural diagram of a power module according to an embodiment of the present invention. The power module includes a power supply control unit 201, a plurality of AC-DC-AC power units 202, a plurality of space vector pulse width modulation integration units 203, and a current detection unit 204.
电源控制单元201的输出端与多个交-直-交功率单元202的输入端连接，多个交-直-交功率单元202的输出端与两台伺服电机102连接，多个空间矢量脉宽调制集成单元203分别与多个交-直-交功率单元202的输出端一一对应连接，电 流检测单元204与各个交-直-交功率单元202的输出端连接。The output end of the power control unit 201 is connected to the input ends of multiple AC-DC-AC power units 202, and the output ends of the multiple AC-DC-AC power units 202 are connected to two servo motors 102, and multiple space vector pulse widths The modulation integration unit 203 is connected to the output ends of the multiple AC-DC-AC power units 202 respectively, and the current detection unit 204 is connected to the output ends of the AC-DC-AC power units 202.
在本实施例中，电源控制单元201由DC/DC转换子单元与电源连接实现控制交流电源的输出。空间矢量脉宽调制集成单元203包括PWM脉冲调制子单元和接口电路子单元。PWM脉冲调制子单元用于接收伺服控制模块103产生的第二逻辑控制信号，进行调制后等到两组PWM电压信号，并将两组PWM电压信号通过接口电路子单元发送至两个交-直-交功率单元202，从而调整两个交-直-交功率单元202的输出电流，控制两台伺服电机进行工作。连接于两个交-直-交功率单元202的输出端的两路电流检测单元204，通过实时检测两个交-直-交功率单元202的输出电流，保证两台伺服电机各自的正常工作。In this embodiment, the power control unit 201 is connected to a power source by a DC / DC conversion subunit to control the output of an AC power source. The space vector pulse width modulation integration unit 203 includes a PWM pulse modulation sub-unit and an interface circuit sub-unit. The PWM pulse modulation sub-unit is used to receive the second logic control signal generated by the servo control module 103, perform modulation and wait until two sets of PWM voltage signals, and send the two sets of PWM voltage signals to the two AC-DC- The AC power unit 202 adjusts the output currents of the two AC-DC-AC power units 202 and controls the two servo motors to work. The two current detection units 204 connected to the output ends of the two AC-DC-AC power units 202 ensure the normal operation of each of the two servo motors by detecting the output currents of the two AC-DC-AC power units 202 in real time.
请参阅图5。See Figure 5.
参见图5，是本发明的一个实施例提供的伺服控制模块的结构示意图。包括逻辑控制单元301、控制处理单元302和位置反馈单元303。5 is a schematic structural diagram of a servo control module according to an embodiment of the present invention. It includes a logic control unit 301, a control processing unit 302, and a position feedback unit 303.
逻辑控制单元301与运动控制模块104连接，控制处理单元302与逻辑控制单元301、电源控制单元201和多个空间矢量脉宽调制集成单元203连接。位置反馈单元303与逻辑控制单元301连接。The logic control unit 301 is connected to the motion control module 104, and the control processing unit 302 is connected to the logic control unit 301, the power control unit 201, and a plurality of space vector pulse width modulation integration units 203. The position feedback unit 303 is connected to the logic control unit 301.
在本实施例中，位置反馈单元303的硬件接口设置有第一位置反馈接口和第二位置反馈接口，两个位置反馈接口分别用于与两个伺服电机的编码器或光栅尺等位置反馈元件连接。两个位置反馈接口的接口形式相同，都适用于编码器或者光栅尺。In this embodiment, the hardware interface of the position feedback unit 303 is provided with a first position feedback interface and a second position feedback interface. The two position feedback interfaces are respectively used for position feedback elements such as encoders or encoders of two servo motors. connection. The interface forms of the two position feedback interfaces are the same and both are suitable for encoders or encoders.
在本实施例中，逻辑控制单元301采用CPLD。两个伺服电机的编码器包括增量式编码器或者绝对式编码器。CPLD通过设置参数配置，以使两个位置反馈接口选择采用增量式编码器或者绝对式编码器。当位置反馈单元303外接增量式编码器时，经过增量式编码器滤除差分信号中的高频干扰信号，然后对电流信号进行调理整形，转换为编码器输出信号输入到CPLD中，进行技术和辨向处理。当位置反馈接口外接绝对式编码器时，电流信号经过绝对式编码器输入到CPLD进行计数和辨向处理，生成第一逻辑信号，发送到运动控制模块104。In this embodiment, the logic control unit 301 uses a CPLD. The encoders of the two servo motors include incremental or absolute encoders. CPLD is configured by setting parameters so that the two position feedback interfaces choose to use incremental encoders or absolute encoders. When the position feedback unit 303 is connected to an incremental encoder, the incremental encoder filters out the high-frequency interference signals in the differential signal, and then adjusts and shapes the current signal, converts it into an encoder output signal, and inputs it into the CPLD. Technology and direction processing. When an absolute encoder is connected to the position feedback interface, the current signal is input to the CPLD for counting and discrimination processing through the absolute encoder, and a first logic signal is generated and sent to the motion control module 104.
在本实施例中，CPLD还用于，接收经过运动控制模块104进行精插补后的 控制信号，生成第二逻辑信号，发送到控制处理单元302。In this embodiment, the CPLD is further configured to receive a control signal after fine interpolation by the motion control module 104, generate a second logic signal, and send it to the control processing unit 302.
在本实施例中，控制处理单元302采用DSP。其中，DSP完成键盘扫描、显示、参数管理、完成电流环/速度环/位置环的控制，以及根据接收到的第二逻辑信号，输出两组PWM信号给相应的空间矢量脉宽调制集成单元203。In this embodiment, the control processing unit 302 uses a DSP. Among them, the DSP completes keyboard scanning, display, parameter management, control of the current loop / speed loop / position loop, and outputs two sets of PWM signals to the corresponding space vector pulse width modulation integration unit 203 according to the received second logic signal. .
请参阅图6。See Figure 6.
参见图6，是本发明的一个实施例提供的运动控制模块的结构示意图。包括指令及反馈单元401和FPGA单元402。6 is a schematic structural diagram of a motion control module according to an embodiment of the present invention. Including instruction and feedback unit 401 and FPGA unit 402.
指令及反馈单元401和FPGA单元402连接。FPGA单元402和微处理器105连接。The instruction and feedback unit 401 is connected to the FPGA unit 402. The FPGA unit 402 and the microprocessor 105 are connected.
在本实施例中，指令及反馈单元401用于接收CPLD产生的第一逻辑信号，发送至FPGA单元402，以及用于将经过FPGA进行精插补后的控制信号发送回CPLD。FPGA单元402用于将指令及反馈单元401接收的第一逻辑信号发送到微处理器105。FPGA单元402还用于完成键盘扫描和IO控制。In this embodiment, the instruction and feedback unit 401 is configured to receive a first logic signal generated by the CPLD, send it to the FPGA unit 402, and send a control signal after the FPGA performs fine interpolation to the CPLD. The FPGA unit 402 is configured to send the first logic signal received by the instruction and feedback unit 401 to the microprocessor 105. The FPGA unit 402 is also used to complete keyboard scanning and IO control.
由上可见，本发明实施例提供一种运动控制系统，包括：功率模块、多个伺服电机、伺服控制模块、运动控制模块和微处理器。功率模块用于控制交流电源输出的工作电源；多个私服电机用于接收功率模块的输出电流，并将输出电路的电流信号转换为编码器输出信号发送给伺服控制模块；伺服控制模块将编码器输出信号转换为第一逻辑控制信号，经过运动控制模块传输至微处理器；微处理器根据第一逻辑信号生成控制信号，并经过运动控制模块对控制信号进行再调整后，发送到伺服控制模块，控制伺服控制模块对功率模块进行调整，以使功率模块改变交流电源输出的工作功率，从而驱动多个伺服电机进行工作。与传统技术相比，本发明提供一种集成运动控制器和支持多轴交流伺服驱动器的运动控制系统，实现伺服驱动器的自动控制，提高伺服驱动器控制精度。As can be seen from the above, an embodiment of the present invention provides a motion control system including: a power module, a plurality of servo motors, a servo control module, a motion control module, and a microprocessor. The power module is used to control the working power output of the AC power supply; multiple private server motors are used to receive the output current of the power module and convert the current signal of the output circuit into an encoder output signal and send it to the servo control module; the servo control module sends the encoder The output signal is converted into a first logic control signal and transmitted to the microprocessor through the motion control module; the microprocessor generates a control signal according to the first logic signal, and after the control signal is readjusted by the motion control module, it is sent to the servo control module , Control the servo control module to adjust the power module, so that the power module changes the working power output by the AC power supply, thereby driving multiple servo motors to work. Compared with the conventional technology, the present invention provides an integrated motion controller and a motion control system supporting a multi-axis AC servo driver, realizing automatic control of the servo driver, and improving control accuracy of the servo driver.
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。The above is the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, a number of improvements and retouches can be made. These improvements and retouches also depend on It is the protection scope of the present invention.

Claims (9)

  1. 一种运动控制系统，外接交流电源，其特征在于，包括：功率模块、多个伺服电机、伺服控制模块、运动控制模块和微处理器；A motion control system, externally connected to an AC power source, characterized in that it includes: a power module, a plurality of servo motors, a servo control module, a motion control module, and a microprocessor;
    所述功率模块与所述多个伺服电机连接，用于控制所述交流电源输出的工作电源；The power module is connected to the plurality of servo motors and is used to control the working power output by the AC power supply;
    所述多个伺服电机与所述伺服控制模块连接，用于接收流经所述功率模块的输出电流，并对所述输出电流的电流信号进行调理整形，转换为编码器输出信号，发送到所述伺服控制模块；The plurality of servo motors are connected to the servo control module, and are used for receiving the output current flowing through the power module, and conditioning and shaping the current signal of the output current, converting it into an encoder output signal and sending it to all Said servo control module;
    所述伺服控制模块与所述功率控制模块连接，用于接收所述多个伺服电机分别发送的编码器输出信号，进行计数和辨向处理后，转换成第一逻辑控制信号；The servo control module is connected to the power control module, and is configured to receive encoder output signals respectively sent by the plurality of servo motors, perform counting and discrimination processing, and convert them into a first logic control signal;
    所述运动控制模块，与所述伺服控制模块和所述微处理器连接，用于将所述第一逻辑控制信号，发送到所述微处理器；The motion control module is connected to the servo control module and the microprocessor, and is configured to send the first logic control signal to the microprocessor;
    所述微处理器，用于接收所述第一逻辑控制信号，对所述第一逻辑控制信号进行插补后，转换成控制信号，并反馈所述控制信号给所述运动控制模块，以供所述运动控制模块，控制所述伺服控制模块对所述功率模块进行调整，以使所述功率模块改变所述交流电源输出的工作电源，从而驱动所述多个伺服电机。The microprocessor is configured to receive the first logic control signal, interpolate the first logic control signal, convert it into a control signal, and feed back the control signal to the motion control module for supply. The motion control module controls the servo control module to adjust the power module, so that the power module changes the working power output by the AC power supply, thereby driving the plurality of servo motors.
  2. 根据权利要求1所述的运动控制系统，其特征在于，所述功率模块包括：电源控制单元、多个交－直－交功率单元、多个空间矢量脉宽调制集成单元和电流检测单元；The motion control system according to claim 1, wherein the power module comprises: a power control unit, a plurality of AC-DC-AC power units, a plurality of space vector pulse width modulation integrated units, and a current detection unit;
    所述电源控制单元，用于控制所述交流电源的输出；The power supply control unit is configured to control an output of the AC power supply;
    所述多个交－直－交功率单元的输入端与所述电源控制单元的输出端连接，所述多个交－直－交功率单元的输出端与所述多个伺服电机连接；The input terminals of the multiple AC-DC-AC power units are connected to the output terminals of the power control unit, and the output terminals of the multiple AC-DC-AC power units are connected to the multiple servo motors;
    所述多个交－直－交功率单元用于对所述交流电源输出的工作电源进行变频变压转换；The multiple AC-DC-AC power units are used for frequency conversion and voltage conversion of the working power output by the AC power supply;
    所述多个空间矢量脉宽调制集成单元，分别与所述多个交－直－交功率单元的输出端一一对应连接，用于对所述多个交－直－交功率单元中的工作电压进行调制；The multiple space vector pulse width modulation integrated units are connected to the output terminals of the multiple AC-DC-AC power units one-to-one correspondingly, and are used to work in the multiple AC-DC-AC power units. Voltage modulation
    所述电流检测单元，与各个所述交－直－交功率单元的输出端连接，用于检测各所述交－直－交功率单元的工作电流。The current detection unit is connected to an output end of each of the AC-DC-AC power units and is configured to detect a working current of each of the AC-DC-AC power units.
  3. 根据权利要求2所述的运动控制系统，其特征在于，所述伺服控制模块包括：逻辑控制单元、控制处理单元和位置反馈单元；The motion control system according to claim 2, wherein the servo control module comprises: a logic control unit, a control processing unit, and a position feedback unit;
    所述逻辑控制单元，与所述运动控制模块连接，用于将各所述伺服电机的编码器输出信号，转换成所述第一逻辑控制信号，并通过所述运动控制模块发送至所述微处理器，并根据所述微处理器反馈的所述控制信号，向所述控制处理单元输出相应的第二逻辑控制信号；The logic control unit is connected to the motion control module, and is configured to convert an encoder output signal of each servo motor into the first logic control signal and send the signal to the microcomputer through the motion control module. A processor, and outputting a corresponding second logic control signal to the control processing unit according to the control signal fed back by the microprocessor;
    所述控制处理单元，与所述逻辑控制单元、所述电源控制单元、所述多个空间矢量脉宽调制集成单元连接，用于接收所述第二逻辑控制信号，输出多组调制信号给相应的空间矢量脉宽调制集成单元，以控制所述多个交－直－交功率单元；The control processing unit is connected to the logic control unit, the power supply control unit, and the multiple space vector pulse width modulation integrated units, and is configured to receive the second logic control signal and output multiple sets of modulation signals to corresponding ones. Space vector pulse width modulation integrated unit to control the plurality of AC-DC-AC power units;
    位置反馈单元，与所述逻辑控制单元连接；所述位置反馈单元包括多个位置反馈接口；A position feedback unit connected to the logic control unit; the position feedback unit includes a plurality of position feedback interfaces;
    所述多个位置反馈接口，分别与所述多个伺服电机一一对应连接，用于将所述编码器输出信号发送到所述逻辑控制单元。The multiple position feedback interfaces are respectively connected one-to-one with the multiple servo motors, and are used to send the encoder output signal to the logic control unit.
  4. 根据权利要求3所述的运动控制系统，其特征在于，还包括：The motion control system according to claim 3, further comprising:
    与所述控制处理单元连接的伺服显示模块。A servo display module connected to the control processing unit.
  5. 根据权利要求1所述的运动控制系统，其特征在于，所述运动控制模块包括：指令及反馈单元和FPGA单元；The motion control system according to claim 1, wherein the motion control module comprises: an instruction and feedback unit and an FPGA unit;
    所述指令及反馈单元，与所述FPGA单元和所述伺服控制模块连接，用于 将所述第一逻辑信号发送至所述FPGA单元；The instruction and feedback unit is connected to the FPGA unit and the servo control module, and is configured to send the first logic signal to the FPGA unit;
    所述FPGA单元，与所述微处理器连接，用于将所述第一逻辑信号发送到所述微处理器，以供所述微处理器生成所述控制信号，并通过所述FPGA对所述控制信号进行精插补后，通过所述指令及反馈单元，将所述控制信号反馈给所述伺服驱动模块。The FPGA unit is connected to the microprocessor, and is configured to send the first logic signal to the microprocessor, so that the microprocessor generates the control signal, and sends the control signal through the FPGA to After the control signal is finely interpolated, the control signal is fed back to the servo drive module through the instruction and feedback unit.
  6. 根据权利要求3所述的运动控制系统，其特征在于，所述功率模块还包括：故障检测单元；The motion control system according to claim 3, wherein the power module further comprises: a fault detection unit;
    所述故障检测单元与所述逻辑控制单元连接。The fault detection unit is connected to the logic control unit.
  7. 根据权利要求1所述的运动控制系统，其特征在于，所述伺服电机包括编码器，用于输出所述编码器输出信号；The motion control system according to claim 1, wherein the servo motor includes an encoder for outputting the encoder output signal;
    所述编码器包括增量式编码器和/或绝对式编码器。The encoder includes an incremental encoder and / or an absolute encoder.
  8. 根据权利要求1所述的运动控制系统，其特征在于，还包括：与所述微处理器连接的控制器显示模块；The motion control system according to claim 1, further comprising: a controller display module connected to the microprocessor;
    所述控制器显示模块包括显示单元和数据存储FLASH单元。The controller display module includes a display unit and a data storage FLASH unit.
  9. 根据权利要求1所述的运动控制系统，其特征在于，所述微处理器为ARM处理器。The motion control system according to claim 1, wherein the microprocessor is an ARM processor.
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